曹 文静

A Pulse-and-Glide (PnG) strategy, which periodically switches the operating modes of the powertrain between the engine driving mode(pulse mode) and the glide mode, is proven to be effective in improving fuel economy in a single traveling scenario by a past research. It’s found that, when using PnG strategy, switching the operating point of the engine between the minimum Brake Specific Fuel Consumption (BSFC) points and the idling point can contribute in improving fuel economy in car-following scenario. However, the following factors about PnG are still not clear: 1)what are the optimal values of the initial vehicle speed, the duration of the pulse mode and the engine power during the pulse mode for fuel efficiency; 2)whether these values depend on the driving scenarios. In this paper, an optimization problem is formulated to find the optimal PnG pattern in a single traveling scenario for fuel economy. Under the assumption that the engine works at a constant operating point during the pulse mode, it is found that the most fuel-efficient engine operating point during the pulse mode is not the minimum BSFC point, but an operating point with a lower torque and a lower rotation speed.

This paper proposes a two-stage hierarchy control system with model predictive control (MPC) for connected parallel HEVs with available traffic information. In the first stage, a coordination of on-ramp merging problem using MPC is presented to optimize the merging point and trajectory for cooperative merging. After formulating the merging problem into a nonlinear optimization problem, a continuous/GMRES method is used to generate the real-time vehicle acceleration for two considered HEVs running on main road and merging road, respectively. The real-time acceleration action is used to calculate the torque demand for the dynamic system of the second stage. In the second stage, an energy management strategy (EMS) for powertrain control that optimizes the torque-split and gear ratio simultaneously is composed to improve fuel efficiency. The formulated nonlinear optimization problem is solved by sequential quadratic programming (SQP) method under the same receding horizon. The simulation results demonstrate that the vehicles can merge cooperatively and smoothly with a reasonable torque distribution and gear shift schedule.

To reduce drivers’ mental load and traffic congestion caused by merging maneuver, a merging trajectory generation method aiming for practical automatic driving was proposed in a past research by the authors. In this paper, the robustness of the merging trajectory generation method against sensor noises that contaminate the state variables is enhanced. The robustness was enabled by adding dummy optimization variables that relax the constraints of variables expressed by equations and barrier functions. The stage costs composed by these introduced variables were designed to generate safe and smooth merging maneuver. Effectiveness of the proposed method for a typical case was observed in the simulation results. To check if the proposed method works well under different initial conditions, 116 initial conditions were generated randomly. The proposed method solved all the cases of merging problem, while the conventional method failed in 80% of the cases.

This paper proposed a cooperative merging path generation method for vehicles to merge smoothly on the motorway using a Model Predictive Control (MPC) scheme which optimizes the motions of the relevant vehicles simultaneously. The cooperative merging is a merging in where the most relevant vehicle in the main lane would accelerate or decelerate slightly to let the merging vehicle merge in easily. The proposed path generation algorithm can generate the merging path ensuring the merging vehicle can access the whole acceleration area, and do not exceed it. We have introduced a state variable to the optimization problem by which the merging point for the merging vehicle is optimized. The simulation results showed that the cooperative merging path can be successfully generated under some typical traffic situations without re-adjustment of the optimization parameters. (C) 2014 Elsevier Ltd. All rights reserved.

This paper describes a selection of a merging point and a trajectory generation method for a merging maneuver of vehicles on a motor way which is possible to be used in a centralized merging control system as well as in a stand-alone merging control system. The merging problem is formulated into an optimization problem using receding horizon control framework. An appropriate path to merge is designed for the merging vehicle, which is modified according to the motion of the main lane vehicles. Appropriate constraints are set for the vehicles so that the vehicle can move smoothly in the specified range. The possibility of the method to be used in a centralized motion control system for vehicles during merging and a standalone motion control system for the merging vehicle is examined by computer simulation.